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Exhaust Gas Recirculation (EGR) dilution / air lean Spark Ignition (SI) and Homogeneous Charge Compression Ignition (HCCI) engines have been developed to improve the engine thermal efficiency. One of the most important points of them is the improvement of the trade-off between the thermal efficiency and the combustion stability. The purpose of this research is to develop a control-method to achieve...
Conventional electronic stability control (ESC) system uses differential braking to stabilize the yaw rate and side slip of the vehicle motion. While the roll stability is critically important, it is absent from the current ESC scheme. In this paper, an model predictive control (MPC) scheme is proposed that potentially can achieve both yaw stability and roll stability. The objective of the proposed...
For the purpose of enhancing compliance of robot joint, an impedance control strategy with new inner torque controller is proposed. Apparent inertia of the motor can be scaled down thanks to this new type of torque controller. Effects of different position (motor-side position θ and link-side position q) feedback strategies are explored through theoretical deviation, simulation and static stiffness...
Aiming at the time-varying load torque disturbance in the vibration displacement system of continuous casting mold driven by servo motor, an extended state observer (ESO) based backstepping sliding mode control method is proposed. Firstly, a mapping function is established to deal with the non-uniqueness of the nonlinear inverse relationship from eccentric shaft angle to mold displacement. Secondly,...
An active disturbance rejection controller (ADRC) is designed and originally implemented on a real torsional plant. The torsional plant resembles the dynamics of a rotational system. Due to mass imbalance, centrifugal imbalance, and the non-coincidence between the principal and geometric axes of a rotating disc, the system parameters of this torsional plant are varying constantly. In addition, an...
Knee exoskeletons can help injured subjects regain locomotion ability by providing external movement compensation as a robot-assisted rehabilitation technique. Tracking control of joint angle of knee exoskeletons often encounters time-dependent (time-varying) model parameter issues, which would dramatically put an influence up on dynamic behaviors. In a number of applications, inertial and viscous...
When AMT vehicles are driven under crowded conditions, the vehicle speed should be kept at a low level through clutch control. However, owing to relatively large noise to the low vehicle speed, it is difficult to measure the vehicle speed accurately, instead, in this paper, the transmission output shaft speed is adopted to control the vehicle speed. To improve speed tracking performance, a gain-scheduling...
An observer-based fault-tolerant control scheme is developed for the attitude stabilization control of the rigid spacecraft in the presence of constants and time-varying actuator faults as well as external disturbances. The proposed iterative learning observer employs a learning mechanism to estimate the fault torque values combined with external disturbances, furthermore, the sign function and the...
Electronic Stability Control (ESC) and Traction Control System (TCS) have progressed considerably, but there is seldom research on integration between the two active safety control systems. This paper proposes an integrated stability control system which combines the two modules cooperatively in order to achieve optimal torque distribution for decentralized electric vehicles (EVs) and constraint the...
This paper proposes a control scheme for the energy management of plug-in hybrid electric vehicles (HEVs). Consider the urban driving case, the traffic conditions are treated as stochastic processes of the driver demands. Taking the essential characteristics of plug-in HEVs into account, a logical-based optimization approach is applied to realize the equivalent energy cost minimization of the powertrain...
This paper proposes a robust chattering-free sliding-mode (CFSM) control for an electronic throttle (ET) system in drive-by-wire vehicles. Although boundary layer method is used in traditional linear sliding-mode based-electronic throttle control systems to remove control chattering, both the tracking precision and control robustness are affected. The uniqueness of the proposed CFSM controller is...
A multi-body dynamics model was established in Adams. According to the working principle of the electric power steering system(EPS), the linear assistant power curve and control strategy were designed in Matlab/Simulink. And the corresponding fault-tolerant control strategy is designed for the current distribution strategy. The co-simulation was carried out and the result shows that the dual-motor...
This paper gives a Hinf-LPV(Linear-Parameter-Variable) yaw control method to improve vehicle yaw response performance. The controller works in the linear area of the tyre force mainly to improve vehicle response to the steering wheel angle. By means of writing the Dugoff tyre model into two terms (linear term and nonlinear term), Lipschitz condition is used to approximating nonlinear term with linear...
This paper deals with sensorless vector control of induction motor (IM) based on model reference adaptive system (MRAS) theory and sliding mode technique. An adaptive-gain supertwisting (ASTW) sliding mode speed controller is designed to provide good speed tracking performance in the presence of load torque variation. A stator current and rotor flux sliding mode observer (SMO) is designed, which is...
To achieve steering angle tracking performance of a novel steering-by-wire (SbW) system, a sliding mode-based learning control (SMLC) is developed. It features that the bounds information of disturbances isn't required in advance and the chattering phenomenon will be reduced. Simulation results show that the proposed SMLC has excellent steering angle tracking performance, robust performance and energy...
Electric Power Assisted Bicycle (EPAC) is becoming the transport and fitness tools that people pursue because of its green, healthy and economical characteristics. Compared to the conventional electric bike, EPAC not only reduces the burden on the rider, but also maintains the original bicycle characteristics. Nowadays, there is few study of the control approach adaptive to road slope and load for...
This paper presents an H∞ control scheme for gasoline engines based on a mean-value model. First, a linearized model based on a mean-valve nonlinear model of the engines is proposed that represents dynamical behavior under the multi-input excitation of the fuel injection and the throttle opening around an operating condition. Then, for the feedback control system to regulate of the speed and the air-fuel...
Gyro wheel, a new kind of spacecraft attitude control and measurement device, could work as actuators as well as sensors at the same time. With this characteristic, Gyro wheel could reduce the size, mess and cost of the spacecraft attitude control system. It is of great significance for the development of the small satellite. Based on the Euler dynamics equation, the gyrowheel is modeled and both...
The position control of an Electronic Throttle Body (ETB) is challenging due to its nonlinear characteristics of input and output relation. In this work, the control of ETB is first accomplished by applying a data-driven optimization method-Extremum Seeking (ES). Experimental results are presented to demonstrate the effectiveness of the ES control approach.
In order to suppress unreasonable torque ripple of direct torque control (DTC) in surface permanent magnet synchronous motor (SPMSM), the SPMSM-DTC mode is established and the effect of voltage vectors selected by switching table on torque is analyzed. The conclusion of the change in torque is contrary to expectation when the changes of stator flux and torque angle (angle between stator and rotor...
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